diff --git a/msg/fw_virtual_attitude_setpoint.msg b/msg/fw_virtual_attitude_setpoint.msg index 7bbb670b31..6c12b225c8 100644 --- a/msg/fw_virtual_attitude_setpoint.msg +++ b/msg/fw_virtual_attitude_setpoint.msg @@ -1,3 +1,12 @@ +############################################################################################### +# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages +# +# Please keep the following messages identical; +# vehicle_attitude_setpoint.msg +# mc_virtual_attitude_setpoint.msg +# fw_virtual_attitude_setpoint.msg +# +############################################################################################### uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data @@ -21,3 +30,8 @@ float32 thrust # Thrust in Newton the power system should generate bool roll_reset_integral # Reset roll integral part (navigation logic change) bool pitch_reset_integral # Reset pitch integral part (navigation logic change) bool yaw_reset_integral # Reset yaw integral part (navigation logic change) + +bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway) +bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) + +bool apply_flaps diff --git a/msg/fw_virtual_rates_setpoint.msg b/msg/fw_virtual_rates_setpoint.msg index 834113c798..4fa09b563f 100644 --- a/msg/fw_virtual_rates_setpoint.msg +++ b/msg/fw_virtual_rates_setpoint.msg @@ -1,6 +1,16 @@ +############################################################################################### +# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages +# +# Please keep the following messages identical; +# vehicle_rates_setpoint.msg +# mc_virtual_rates_setpoint.msg +# fw_virtual_rates_setpoint.msg +# +############################################################################################### + uint64 timestamp # in microseconds since system start float32 roll # body angular rates in NED frame float32 pitch # body angular rates in NED frame -float32 yaw # body angular rates in NED frame +float32 yaw # body angular rates in NED frame float32 thrust # thrust normalized to 0..1 diff --git a/msg/mc_virtual_attitude_setpoint.msg b/msg/mc_virtual_attitude_setpoint.msg index 7bbb670b31..6c12b225c8 100644 --- a/msg/mc_virtual_attitude_setpoint.msg +++ b/msg/mc_virtual_attitude_setpoint.msg @@ -1,3 +1,12 @@ +############################################################################################### +# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages +# +# Please keep the following messages identical; +# vehicle_attitude_setpoint.msg +# mc_virtual_attitude_setpoint.msg +# fw_virtual_attitude_setpoint.msg +# +############################################################################################### uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data @@ -21,3 +30,8 @@ float32 thrust # Thrust in Newton the power system should generate bool roll_reset_integral # Reset roll integral part (navigation logic change) bool pitch_reset_integral # Reset pitch integral part (navigation logic change) bool yaw_reset_integral # Reset yaw integral part (navigation logic change) + +bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway) +bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) + +bool apply_flaps diff --git a/msg/mc_virtual_rates_setpoint.msg b/msg/mc_virtual_rates_setpoint.msg index 834113c798..4fa09b563f 100644 --- a/msg/mc_virtual_rates_setpoint.msg +++ b/msg/mc_virtual_rates_setpoint.msg @@ -1,6 +1,16 @@ +############################################################################################### +# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages +# +# Please keep the following messages identical; +# vehicle_rates_setpoint.msg +# mc_virtual_rates_setpoint.msg +# fw_virtual_rates_setpoint.msg +# +############################################################################################### + uint64 timestamp # in microseconds since system start float32 roll # body angular rates in NED frame float32 pitch # body angular rates in NED frame -float32 yaw # body angular rates in NED frame +float32 yaw # body angular rates in NED frame float32 thrust # thrust normalized to 0..1 diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg index e46e2990c1..9648a370cd 100644 --- a/msg/position_setpoint.msg +++ b/msg/position_setpoint.msg @@ -23,6 +23,7 @@ float64 lon # longitude, in deg float32 alt # altitude AMSL, in m float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw bool yaw_valid # true if yaw setpoint valid +bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) float32 yawspeed # yawspeed (only for multirotors, in rad/s) bool yawspeed_valid # true if yawspeed setpoint valid float32 loiter_radius # loiter radius (only for fixed wing), in m diff --git a/msg/vehicle_attitude_setpoint.msg b/msg/vehicle_attitude_setpoint.msg index 43ea237b47..6c12b225c8 100644 --- a/msg/vehicle_attitude_setpoint.msg +++ b/msg/vehicle_attitude_setpoint.msg @@ -1,3 +1,12 @@ +############################################################################################### +# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages +# +# Please keep the following messages identical; +# vehicle_attitude_setpoint.msg +# mc_virtual_attitude_setpoint.msg +# fw_virtual_attitude_setpoint.msg +# +############################################################################################### uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data @@ -23,5 +32,6 @@ bool pitch_reset_integral # Reset pitch integral part (navigation logic change bool yaw_reset_integral # Reset yaw integral part (navigation logic change) bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway) +bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) bool apply_flaps diff --git a/msg/vehicle_rates_setpoint.msg b/msg/vehicle_rates_setpoint.msg index 834113c798..4fa09b563f 100644 --- a/msg/vehicle_rates_setpoint.msg +++ b/msg/vehicle_rates_setpoint.msg @@ -1,6 +1,16 @@ +############################################################################################### +# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages +# +# Please keep the following messages identical; +# vehicle_rates_setpoint.msg +# mc_virtual_rates_setpoint.msg +# fw_virtual_rates_setpoint.msg +# +############################################################################################### + uint64 timestamp # in microseconds since system start float32 roll # body angular rates in NED frame float32 pitch # body angular rates in NED frame -float32 yaw # body angular rates in NED frame +float32 yaw # body angular rates in NED frame float32 thrust # thrust normalized to 0..1